Systems and methods for delivering, storing, and processing materials in space

ABSTRACT

Systems and methods for transferring, storing, and/or processing materials, such as fuel or propellant, in space, are disclosed. A representative system includes a flexible container that is changeable between a stowed configuration in which the flexible container is contained within a satellite, and a deployed configuration in which the flexible container extends away from the satellite. The system can include a tanker with a storage container to dock with and refuel a satellite. Another representative system includes a controller programmed with instructions that position a spacecraft with a storage container in a first orbit, transfer the spacecraft to a second orbit, dock the spacecraft with a satellite in the second orbit, transfer material between the storage container and the satellite, undock the spacecraft from the satellite, and, optionally, return the spacecraft to the first orbit. An androgynous coupling system with mechanical and fluid connectors facilitates docking and material transfer.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. Provisional PatentApplication No. 62/614,835, filed Jan. 8, 2018, U.S. Provisional PatentApplication No. 62/595,238, filed Dec. 6, 2017, and U.S. ProvisionalPatent Application No. 62/556,468, filed Sep. 10, 2017 each of which isincorporated herein in its entirety by reference.

TECHNICAL FIELD

The present disclosure is directed generally to systems and methods fordelivering, storing, and processing materials in space. Representativeaspects of the present disclosure include space systems, fuel orpropellant storage, and fuel processing.

BACKGROUND

Existing space systems include several drawbacks. For example, launchvehicles may have limited volume and mass capacities. Spacecraft, suchas satellites and/or other machines for traveling in space, are oftenlaunched to orbit with a limited quantity of fuel on board due to sizeand/or cost restrictions that must be compromised when designing thespacecraft for a particular mission. Accordingly, space missions mayhave limited lifetimes and/or utility due to limited fuel. Likewise,features and functions of spacecraft, such as the type and quantity ofpayload the spacecraft itself may carry, may be limited and/orcompromised because the spacecraft may need to be launched full of allof the fuel it will need for its entire lifetime.

Refueling a satellite is difficult or impossible with existing systems.For example, existing docking systems and procedures are complicated andtwo satellites or vehicles may have incompatible docking systems or nodocking systems. There is a need for systems and methods for delivering,storing, and processing materials in space that overcome thesedisadvantages of existing space systems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a partially schematic view of a spacecraft configuredto transport, deliver, store, and/or process materials in accordancewith embodiments of the present technology.

FIG. 2 illustrates a partially schematic view of a spacecraft configuredto transport, deliver, store, and/or process materials in accordancewith embodiments of the present technology.

FIG. 3 illustrates a partially schematic view of a spacecraft configuredto transport,deliver, store, and/or process materials in accordance withembodiments of the present technology.

FIG. 4 illustrates a partially schematic view of a storage containersystem in accordance with embodiments of the present technology,

FIG. 5 illustrates a partially schematic view of a spacecraft inaccordance with embodiments of the present technology.

FIG. 6 illustrates a partially schematic view of a flexible containerassembly in accordance with embodiments of the present technology.

FIG. 7 illustrates a partially schematic view of a flexible containerassembly in accordance with embodiments of the present technology.

FIG. 8 illustrates two spacecraft docked together, in which one of thespacecraft has deployed a flexible container, in accordance withembodiments of the present technology.

FIG. 9 illustrates a schematic view of a wall and a bulkhead forming aportion of a flexible container in accordance with embodiments of thepresent technology.

FIGS. 10A-10E illustrate example stowed configurations of flexiblecontainers in accordance with embodiments of the present technology.

FIG. 11 illustrates a fluid management system for managing fluids inflexible containers in accordance with embodiments of the presenttechnology.

FIGS. 12A-12D illustrate partially schematic views of arrangements forconnecting flexible containers to a spacecraft in accordance withembodiments of the present technology.

FIG. 13 illustrates a schematic view of an androgynous couplingstructure in accordance with embodiments of the present technology.

FIGS. 14A and 14B illustrate representative arrangements of connectorsto facilitate androgynous connections between coupling structures, inaccordance with embodiments of the present technology.

FIGS. 15A-15F illustrate partially schematic side view of connectors andportions of connectors that facilitate androgynous connections betweencoupling structures, in accordance with embodiments of the presenttechnology.

FIGS. 16 and 17 illustrate flow diagrams of representative methods fordelivering and storing materials in space.

DETAILED DESCRIPTION

Several embodiments of the present technology are directed to systemsand methods for delivering, storing, and/or processing materials (e.g.,liquids, gases, solids, and/or other materials) in space. Any of thefeatures described herein can be combined in suitable manners with anyof the other features described herein without deviating from the scopeof the present technology.

Many specific details of some embodiments of the technology are setforth in the following description and FIGS. 1-17 to provide a thoroughunderstanding of these embodiments. Well-known structures, systems, andmethods that are often associated with such embodiments, but that mayunnecessarily obscure some significant aspects of the disclosure, arenot set forth in the following description for purposes of clarity.Moreover, although the following disclosure sets forth some embodimentsof the technology, some embodiments of the technology can have differentconfigurations and/or different components than those described in thissection. As such, the technology can include embodiments with additionalelements, and/or without several of the elements described below withreference to FIGS. 1-17.

Many embodiments of the technology described below may take the form ofcomputer- or controller-executable instructions, including routinesexecuted by a programmable computer or controller. Those skilled in therelevant art will appreciate that the technology can be practiced oncomputer/controller systems other than those shown and described below.The technology can be embodied in a special-purpose computer, controlleror data processor that is specifically programmed, configured orconstructed to perform one or more of the computer-executableinstructions described below. Accordingly, the terms “computer” and“controller” as generally used herein refer to any data processor andcan include Internet appliances and hand-held devices (includingpalm-top computers, wearable computers, cellular or mobile phones,multiprocessor systems, processor-based or programmable consumerelectronics, network computers, mini computers and the like).Information handled by these computers can be presented at any suitabledisplay medium, including an LCD.

The technology can also be practiced in distributed environments, wheretasks or modules are performed by remote processing devices that arelinked through a communications network. In a distributed computingenvironment, program modules and/or subroutines may be located in localand remote memory storage devices. Aspects of the technology describedbelow may be stored and/or distributed on computer-readable media,including magnetic or optically readable or removable computer disks, aswell as distributed electronically over networks. Data structures andtransmissions of data particular to aspects of the technology are alsoencompassed within the scope of the embodiments of the technology.

Reference is made herein to “space.” Space includes orbital space nearor around Earth, the Moon, or another planetary body. A person ofordinary skill in the art will also recognize that embodiments of thepresent technology can be implemented on a planetary or lunar surface,or on another surface. Reference is also made to fuel or propellant. Aperson of ordinary skill in the art will understand that the terms fueland propellant can be used interchangeably when referring to a substancefor powering and/or propelling a spacecraft, and can include oxidizersthat function as propellant when combined with fuels. In addition, aperson of ordinary skill in the art will understand that a spacecraftcan include any human-made object in space.

A. System Overview

The present disclosure describes environments, facilities, systems,and/or devices such as spacecraft configured to transport, deliver,store, and process fluids (such as fuel or propellant) and othermaterials in an extraterrestrial environment, such as in space or onextraterrestrial bodies such as moons or asteroids. Activities performedby spacecraft disclosed herein can be autonomous, semi-autonomous, ornon-autonomous, and can include assistance by robots, artificialintelligence, and/or humans.

Several of the spacecraft according to embodiments of the presenttechnology include tankers and satellites that have containers forreceiving and/or storing materials such as liquids, gases, and/or othermaterials. The present technology also includes coupling systems forconnecting spacecraft to each other, such as in a rendezvous and/ordocking maneuver. Coupling systems also facilitate transfer ofmaterials, data, power, and other elements. In some embodiments, thespacecraft and systems described herein can be used to sell fuel orpropellant to customers as part of a satellite refueling arrangement,which can extend the lifetime of spacecraft and other satellites, aswell as improve capabilities of spacecraft missions. In other words,embodiments of the present technology can function as orbiting “gasstations” or “propellant stations.”

B. Depots, Tankers, and Tanks

FIG. 1 illustrates a partially schematic view of a spacecraft configuredto transport, deliver, store, and/or process materials in accordancewith embodiments of the present technology. The spacecraft in FIG. 1 canalternatively be referred to as a tanker or a fuel depot. The spacecraft100 can include a storage container 105 for holding materials in anenclosed interior volume 110 within the storage container 105. Thestorage container 105—and consequently, the enclosed interior volume110—can be divided into portions by one or more internal bulkheads 115.The spacecraft 100 can optionally include one or more propulsion systems120 suitable for facilitating orbit transfers, stationkeeping, pointing,and/or other orbital navigation operations. Propulsion systems 120 canbe positioned at any suitable location on the spacecraft 100. Propulsionsystems 120 can include rocket engines, electric thrusters, and/or othersuitable space propulsion systems.

The spacecraft 100 can include one or more coupling structures 125positioned on a suitable exterior surface of the spacecraft 100.Coupling structures, which can be androgynous such that two identical orsimilar coupling structures can connect to each other, are described inadditional detail below. In some embodiments, coupling structures 125can provide mechanical docking capability to dock with other spacecraft.In some embodiments, coupling structures 125 can include an airlock,fluid connectors, electrical connectors, and/or other connectors fortransferring signals, electricity, cargo, passengers, fluid, and/orother materials between the spacecraft 100 and other spacecraft.Coupling structures 125 can include windows for viewing the environmentoutside the spacecraft 100, bumpers to absorb shock during a dockingprocess, and/or physical guides or guiderails to align the couplingstructures 125 to corresponding coupling structures on other spacecraft.Coupling structures 125 can include doors and/or openings to function asaccess ports for human and/or robotic access.

In some embodiments, the container 105 can be formed with one or moresolid or flexible walls 106 that may or may not be pressurized. Forexample, the container 105 can be pressurized at or below approximately1 atmosphere, or it can be pressurized at other pressure levels. Thewalls 106 of the container 105 can be internally and/or externallysupported with suitable trusses, beams, tubes, and/or other structuressuitable for supporting the container 105 so that it forms the enclosedinterior volume 110. The walls can be impermeable (to hold liquid and/orgas), or they can have openings (such that it is formed as a mesh ornet) to hold solid objects. Walls can be made with any material suitablefor providing structural support and/or reinforcement in a spaceenvironment, such as aluminum, steel, and/or composite material (forexample, carbon fiber, fiberglass, or carbon-carbon material). The walls106 of the container 105 can have a honeycomb structure, multiple layers(for example, thermal insulation, radiation insulation, micro-meteoriteshielding, Whipple shield, sunshield), and/or other structures suitablefor holding a shape of the container 105. Selected layers of the walls106 can completely surround the spacecraft 100 and/or the container 105,or they can be positioned only partially around portions of thespacecraft 100 and/or the container 105.

In some embodiments, elements of the spacecraft 100 and/or the container105 can be positioned between layers of the wall 106 of the container105, (e.g., electrical cables, thermal conductors, data cables, and/orother elements). The spacecraft 100 can be coated and/or covered inwhole or in part with a thermally radiative material. An overall shapeof the spacecraft 100 and/or the container 105 can have straight edges,or it can have one or more curved ends, which can facilitate stressmanagement when the container 105 is pressurized. An exo-skeletalstructure or frame can be positioned around the container 105 foradditional structural support, and such a frame can be flexible orrigid.

The bulkhead 115 can be insulated to separate materials of differenttemperatures in the interior volume 110. In some embodiments, it can bestructurally configured to accommodate pressure on one or both sides.For example, it can include reinforcing structural members and/or it canbe formed with a strong rigid or flexible material. The bulkhead 115 caninclude windows for permitting viewing between portions of the interiorvolume 110 and/or it can have openings or pass-throughs to allow power,data, heat, fluids, and/or other materials to pass therethrough.

The container 105 and the spacecraft 100 can be configured to withstanda rocket launch or a high-gravitational force launch such as a launchprovided by a gas gun, a powder gun, or a slingshot. In someembodiments, the container 105 and/or the spacecraft 100, or portionsthereof, can be held in a potting material (e.g., a resin or a denseliquid) to limit damage (such as components shearing off) during ahigh-acceleration launch. Such a potting material can be permanent orremovable (for example, it can be jettisoned when the spacecraft reachesorbit.

In general, the container 105 is a container for receiving, storing, anddistributing materials such as fuel or another propellant (e.g., anoxidizer or oxidant). In some embodiments, the spacecraft 100 and/or thecontainer 105 can include a re-purposed and refurbished launch vehicleupper stage, such as a re-purposed rocket fuel tank or booster tank. Thespacecraft 100 can be oriented to have a small cross-section in theorbital vector and a relatively long body along the orbit vector toreduce drag. In some embodiments, the longest axis of a spacecraft 100can be oriented tangential to its orbit to reduce drag. In someembodiments, the container 105 can include one or more internal baffles130 to dampen vibrations and/or to assist with moving fuel or othermatter to inputs and/or outputs.

The spacecraft 100 can include one or more sensors 135 positioned insideand/or outside of the container 105. The sensors 135 can include sensorsfor monitoring health of the spacecraft 100, the environment around thespacecraft 100, and/or characteristics of the container 105 and materialtherein. For example, sensors 135 can detect gamma-rays, neutrons,electro-magnetic radiation, temperature, vibration, pressure, altitude,attitude, position, and/or relative position to nearby objects, forexample. Internal sensors 135 can also sense properties of materialstored in the container 105, such as composition, electricalconductivity, mass distribution, mass properties, chemical distribution,and/or other characteristics. In some embodiments, sensors 135 can beself-powered with solar panels, thermal difference power generators,piezoelectric generators, and/or other power generation systems.

The spacecraft 100 can include one or more pipes 141 for providing inputand output to the container 105, and associated valves 145 and/or pumps150 for controlling flow and/or for functioning as expulsion devices topush material out of the container 105. Pipes 141 can also transfermaterial between portions of the enclosed volume 110 (for example,through the bulkhead 115). The ends of exterior pipes 140 can includecoupling systems to receive and/or transfer fluid, such as fuel to betransferred to or from another spacecraft. The ends of the exteriorpipes 140 can also include connection interfaces for electrical, data,thermal, and mechanical linkages. In some embodiments, pipes can includemetering systems 155 to measure fluid flow, and such metering systems155 can be connected to a billing system to charge customers for anamount of fuel transferred to another spacecraft.

In some embodiments, the spacecraft 100 can include one or moreattachment points 160 for mechanical attachment to equipment (such assensors or actuators) or other spacecraft. In some embodiments,attachment points can include hooks, latches, bolts, straps,hook-and-loop fasteners, rails, magnets, adhesives, and/or otherelements suitable for attaching objects to each other. In someembodiments, the attachment points 160 can facilitate attachment ofmultiple spacecrafts 100 together (or multiple containers 105).

In some embodiments, the spacecraft 100 can include thermal radiation orthermal transfer systems 165 to conduct heat between portions of theenclosed interior volume 110 or from the interior volume 110 to anexterior of the spacecraft 100 or the container 105. One or more solararrays 170 can extend from the spacecraft 100, such as with a boomand/or other structure, and/or solar arrays can be flush against thespacecraft 100. The solar arrays 170 can provide power for thespacecraft 100, which can be stored in and distributed from one or morebatteries 175.

The spacecraft 100 can include a computer system 180 to controlfunctions of the spacecraft 100, including avionics, guidance, control,navigation, communication, docking, fluid transfer, monitoring, andother aspects of space flight operations. In some embodiments, thecomputer system 180 can include artificial intelligence and/orautonomous decision-making to automatically dock with other spacecraftto transfer or receive fuel and/or other material. The spacecraft 100can also carry a communications system 185, which can includecommunications devices such as radios and antennas to communicate voice,data, and/or video with other satellites, spacecraft, and/or with Earth,for example.

In some embodiments, the spacecraft 100 can be implemented as astationary depot and it can be parked in a parking orbit until ittravels to another spacecraft, or another spacecraft travels to thespacecraft 100. In some embodiments, the spacecraft 100 can spin and/orrotate the container 105, or the entire spacecraft 100 can use thrusters120 and/or other forces to spin or rotate, for example, to providecentripetal forces.

Other subsystems that can be implemented in the spacecraft 100 includefacilities to process materials, for example, creating or breaking downfuel, propellants, and/or other materials. Subsystems can includechemical conversion by catalysis, electrolysis, heating, cooling, fluidagitation, and/or other processes. Subsystems can be powered and/orheated with a solar concentrator or other suitable power or heatsources. Subsystems can be cooled with radiators. Subsystems can createthe fuel or propellant for powering the spacecraft 100 or for storing inthe container 105 for later distribution to other spacecraft.

In some embodiments, the spacecraft 100 can include a water processingsystem that separates water into hydrogen and oxygen (for example, byelectrolysis or a proton exchange membrane) for use as fuel. In someembodiments, the water processing system can function in reverse tocombine hydrogen and oxygen into water. In some embodiments, thespacecraft 100 can retrieve fuel, propellant, water, hydrogen, and/oroxygen from other spacecraft or portions of other spacecraft (such asthe upper stages of one or more spacecraft, such as launch vehicles,after they have completed their launch, but which may have residualmaterial in one or more tanks) for processing and then storage in thecontainer 105. In some embodiments, the spacecraft 100 can include ahydrocarbon processing system that creates or breaks down hydrocarbons.For example, the spacecraft 100 can include containers 105 or portionsof containers 105 that contain carbon dioxide and hydrogen to becombined into methane and water and stored in other containers 105 orportions of containers 105. Other organic components can be formed orbroken down in the hydrocarbon processing system. Systems that handlemultiple substances can include multiple containers 105 or a singlecontainer 105 can include multiple bulkheads 115 to divide the interiorvolume 110 into suitable portions.

FIG. 2 illustrates a partially schematic view of a spacecraft 200 inaccordance with another embodiment of the present technology, configuredto transport, deliver, store, and/or process materials. The spacecraft200 can also be referred to as a tanker or a fuel depot. The spacecraft200 can include a plurality of containers 105 and/or other subsystems205 such as water processing systems, hydrocarbon processing systems, orother systems for processing materials for storage or distribution. Thecontainers 105 and/or other subsystems 205 can be carried by one or moresupport structures, such as a truss 210. Containers 105 and/or othersubsystems 205 can be connected to each other via plumbing, electrical,signal, and/or other connections 215. A manifold 220 can connect one ormore of the containers 105 and/or other subsystems 205 to each other andto a common coupling structure 225, which can be similar to othercoupling structures described herein. The coupling structure 225 canprovide a connection point for other spacecraft to dock and transferfluids with the spacecraft 200. In some embodiments, the spacecraft 200can be formed by multiple spacecraft (such as the spacecraft 100described above) coupling together either directly and/or via a supportstructure such as the truss 210.

The spacecraft can include other systems and subsystems, such as one ormore solar arrays 230, one or more propulsion systems 235 (to providethrust for stationkeeping, orbit maneuvering, rotation of the spacecraft200, and/or other functions), shielding 240 (for micrometeoroids,radiation, and/or other hazards), communications systems 245 (for audio,video, and/or data transmission). In some embodiments, the spacecraft200 can be oriented to have a smaller cross-sectional area facing itsorbital velocity vector 250 to reduce or minimize drag.

In some embodiments, the tanker or depot 200 may wait in an orbit forother spacecraft (such as the spacecraft 100 described above, or anotherspacecraft such as a satellite) to visit and refuel, or anotherspacecraft (such as the spacecraft 100) may travel between thespacecraft 100 other spacecraft (such as a satellite) to carry fuelbetween the spacecraft.

FIG. 3 illustrates a partially schematic view of a spacecraft 300configured to transport, deliver, store, and/or process materials inaccordance with another embodiment of the present technology. Thespacecraft 300 can also be referred to as a tanker or a fuel depot. Thespacecraft 300 can be generally similar to the spacecraft 100 describedabove with regard to FIG. 1, but it can have a smaller form, such as asize and shape similar to a CubeSat. In some embodiments, it can besized and shaped to fit within an EELV Secondary Payload Adapter orother payload adapter for launch. In some embodiments described above(with reference to FIG. 1) the spacecraft can be launched full of fuelto rendezvous with other spacecraft to fuel or refuel the otherspacecraft. In other embodiments, it can be stored full of fuel in anorbit until a controller moves it to rendezvous with another spacecraftfor fueling or refueling the other spacecraft. In some embodiments, thespacecraft 300 can be docked with other similar spacecraft 300, or withdifferent spacecraft, to form a larger depot or tanker farm.

The spacecraft 300 can include a chassis 305, which can contain variouscomponents of the spacecraft 300, such as a container 310 with anenclosed interior volume. In some embodiments, the container 310 can beintegral with the chassis 305, or the container 310 can be a separateelement contained within the chassis 305. The container 310 can berigid, semi-rigid, or it can be a flexible container similar to theflexible containers or tanks described below. For example, in someembodiments, the container 310 can be deployed from the chassis 305 andextend beyond the chassis 305, with one or more portions of thecontainer 310 being positioned outside of the chassis 305 (similar tothe embodiments generally illustrated in FIG. 5, which are describedbelow). In some embodiments, the container 310 can be a blow-down tank,with a separation layer or membrane filled with material to push fuelout of the container 310 (described in additional detail below). In someembodiments, the enclosed interior volume of the container 310 can bedivided with a bulkhead to form multiple interior volumes.

The spacecraft 300 can include other systems and subsystems, such asthose described above with regard to FIGS. 1 and 2. For example, thespacecraft 300 can include communications systems 315 for communicatingaudio, video, and/or data with other spacecraft and/or a ground controlstation. Video and/or other images can be captured using one or morecamera systems 320. The spacecraft 300 can include guidance,navigational, and control systems such as a gyroscope 325, an avionicsand control computer 330, one or more sun sensors 335 for determiningpointing, one or more rangefinders 340 (which can use laser, radar,and/or imagery analysis for detecting range) for determining rangebetween the spacecraft 300 and other spacecraft or objects, one or moreposition determination systems 345 (such as GPS, GLONASS, Galileo, orBeiDou, or inputs from various sensors such as sun sensors, magneticsensors, star trackers, or other suitable position determinationsystems) for navigation. The spacecraft 300 can further include one ormore propulsion systems 350 suitable for facilitating orbit transfers,stationkeeping, pointing, and/or other orbital navigation operations.Propulsion systems 350 can be positioned in any suitable position on thespacecraft 300. Propulsion systems 350 can include rocket engines,electric thrusters, and/or other suitable space propulsion systems. Oneor more solar arrays 355 can provide electrical power for the spacecraft300.

To facilitate transfer of materials with other spacecraft, thespacecraft 300 can include a coupling structure 360 connected to thecontainer 310. To facilitate mechanical docking with other spacecraft,the spacecraft 300 can include a docking element 365, which can provideaxial and/or rotational mechanical alignment and provide stiffness andstrength to the connection when the spacecraft 300 is docked withanother spacecraft. In some embodiments, the docking element 365 and thecoupling structure 360 can be combined into a single coupling structurethat includes mechanical docking features, fluid transfer connectors,electrical connectors, signal (e.g., data) connectors, heat transferconnectors, and/or other connectors, as described in additional detailbelow with regard to FIGS. 13-15F. A combined coupling structure caninclude dampers to absorb vibration or shock during a docking process,and/or elements to allow dissimilar electrostatic potentials todissipate (e.g., with minimal arcing).

In some embodiments, several spacecraft 300 can be joined together (suchas by connecting coupling structures 360 and/or docking elements 365with each other) to form a larger aggregate spacecraft having multiplecontainers 310. Such a grouping of spacecraft 300 can be similar to thespacecraft 200 illustrated in FIG. 2. In some embodiments, individualspacecraft 300 in the aggregate spacecraft can include varioussubsystems, such as water processing systems, hydrocarbon processingsystems, and/or other systems for processing materials for storageand/or distribution. For example, different spacecraft with differentpurposes and internal subsystems can be grouped together in theaggregate spacecraft. An aggregate spacecraft can include propulsionsystems, solar arrays, avionics, controllers, and docking and couplingdevices.

FIG. 4 illustrates a schematic view of a storage container system 400 inaccordance with an embodiment of the present technology. The storagecontainer system 400 can include a storage container 405 (which can bereferred to as a tank). The storage container 405 can be rigid,semi-rigid, or flexible. A separation bladder 410 can be a blowdownbladder functioning as an expulsion device for expelling materials fromthe storage container 405, and/or it can function as a bulkhead todivide the enclosed interior volume 415 of the storage container 405into multiple compartments. In other embodiments, an expulsion devicecan include a pump to expel materials from the storage container 405. Apressurization valve 420 can regulate pressure to the separation bladder410 from a pressurant tank 425, which can be filled or pressurized by agas generator 430. In some embodiments, the gas generator 430 caninclude a solid propellant, and/or it can include other gas-generatingcomponents. In some embodiments, the gas generator 430 can convert fluidin the storage container 405 to gas to pressurize the separation bladder410 (by evaporation or chemical conversion, for example). In someembodiments, the gas generator 430 is a reformer, which can convertgases from the bladder 410 to liquids for return into interior volume415 outside of the bladder 410. In some embodiments, the storagecontainer 405 can include an accumulator 435 to accommodate expansion ofany materials within the storage container 405 or to accommodatetemporary or permanent surges in pressure or capacity. A coupling system440, which can be similar to other connectors or coupling systemsdescribed herein, can facilitate connection of the storage container 405to other spacecraft for transfer of materials to and from the storagecontainer 405. In addition to fluids, the coupling system 440 canoptionally transfer mechanical forces, electrical power, heat, data,and/or other substances. For example, the connector 440 can be amulti-purpose coupling structure described in additional detail below. Abaffle element 445 can be positioned within the enclosed interior volume415 to reduce sloshing. The storage container system 400 can beimplemented in any of the spacecraft or satellites described herein, orin other spacecraft.

FIG. 5 illustrates a partially schematic view of a spacecraft 500configured in accordance with embodiments of the present technology. Thespacecraft 500 can be a satellite (such as a communications satellite,reconnaissance satellite, or other satellite), or it can be another typeof spacecraft described herein. The spacecraft 500 includes a flexiblecontainer 505 (which can be referred to as a flexible tank) forreceiving, storing, and/or delivering materials, such as fuel or water.The flexible container 505 can be stowable, deployable, flexible, andexpandable (for example, it can have elastic characteristics or it canbe inelastic). For example, it can be stowed until needed for storage offuel and/or other material during a space mission. The spacecraft 500can be launched into orbit without any fuel, and another spacecraft canprovide fuel and/or other material to the spacecraft 500, whereby theflexible container 505 deploys from a main body 510 (which can bereferred to as a satellite bus) of the spacecraft 500 to receive andstore the fuel. The flexible container 505 can be stowed, deployed,emptied, and refilled multiple times. The spacecraft 500 can include apressurization system operatively connected to the flexible container505 to expand or contract the flexible container 505.

In some embodiments, the flexible container 505 can be formed in wholeor in part as a membrane having a fluid barrier layer. In someembodiments, the flexible container 505 can have multiple additionallayers, including layers for micro-meteoroid protection (which can beself-healing, for example by including a gel or other substance to flowinto and cure in punctures or other damage). In some embodiments, theflexible container 505 can include materials that harden or stiffen(such as by curing) after deployment. In some embodiments, reinforcingfibers, cables, and/or strings can be distributed in and/or around themembrane material for reinforcement.

In some embodiments, the flexible container 505 can be stowed in and/ordeployed from a packing receptacle 515 carried by the spacecraft 500.The packing receptacle 515 can provide a mechanical attachment tomaintain connection between the flexible container 505 and the remainderof the spacecraft 500. The packing receptacle can also include conduitor piping to transfer fluids and/or signals in and out of the container505.

In some embodiments, the main body 510 of the spacecraft 500 can have asize, shape, or other form similar to a CubeSat specification, or it canhave other sizes or forms. The flexible container 505 can be sized tohold a variety of quantities of volume. Containers according toembodiments of the present technology can hold between 100 grams and100,000 tons of material, or other amounts of material.

The spacecraft 500 can include systems and subsystems for carrying out aspace mission. For example, the spacecraft 500 can include one or morepropulsion systems 520 (which can be similar to other propulsion systemsdescribed herein) suitable for facilitating orbit transfers,stationkeeping, pointing, and/or other navigation operations. Propulsionsystems 520 can be positioned in any suitable position on the spacecraft500. Propulsion systems 520 can include rocket engines, electricthrusters, and/or other suitable space propulsion systems. Thespacecraft 500 can include one or more communication systems 525 (foraudio, video, data transmission, and/or other transmissions). A powersystem 530, which can include a solar array, can be included in thespacecraft 500 to provide electrical power to the spacecraft 500. Themain body 510 can also include navigation systems 535, such as attitudedetermination and control systems, guidance, navigation, and controlsystems, avionics controllers, and/or other suitable navigation systems.A payload 540 can be carried outside and/or within the main body 510.

In some embodiments, the spacecraft 500 can include one or more couplingstructures 545, which can include one or more connectors fortransferring fluid, electricity, data, and/or for performing otherfunctions. In some embodiments, one or more coupling structures 545 canbe carried by a boom 546. In some embodiments, the coupling structures545 can be on a surface of the main body 510 or otherwise suitablysupported. In some embodiments, the coupling structures 545 can bemulti-purpose coupling structures described in additional detail later.

FIG. 6 illustrates a partially schematic view of a flexible containerassembly 600 in a deployed configuration in accordance with anembodiment of the present technology. The flexible container 505 candeploy from the receptacle 515 and it can be supported by one or moresupporting structures, and/or it can include stiffening structures. Thereceptacle 515 serves as a chassis or other interface to a satellitecarrying the flexible container assembly 600. One or more booms 605(which can be formed by a truss or another elongated structure) canextend away from the receptacle 515 or the spacecraft (500, see FIG. 5),and one or more guy-wires 610 can connect an end of the boom 605 to theflexible container 505. The one or more booms 605 and guy-wires 610 canprovide stability for the flexible container 505. In some embodiment,one or more booms may be positioned inside, and extend within, theflexible container 505 and support the flexible container 505 fromwithin. In some embodiments, one or more booms 605 can be connected tothe flexible container 505 without a guy-wire. In some embodiments,booms 605 can include and/or be part of doors or other restraintmechanisms for holding the flexible container 505 when the container 505is in the stowed configuration (see for example, FIG. 10A, which isdescribed below and illustrates doors or cover elements 1010, which mayinclude booms 605).

In some embodiments, internal or external stringers 615 can traverseinternal and/or external surfaces of the flexible container 505 and/orcan be positioned between layers of the flexible container 505 toprovide support against internal pressure and/or to provide stiffness.The stringers 615 can be rigid, semi-rigid, or flexible. For example,stringers 615 can include cords, wires, ropes, tapes, tubes, trusses,sheets, and/or beams. The stringers 615 can provide vibration damping.Stringers 615 can be attached to the flexible container 505 withadhesive, fasteners, and/or other suitable attachment devices. In someembodiments, stringers 615 can be connected to each other, for exampleto form a net that may or may not be attached to the flexible container505 (such a net can, in some embodiments, surround at least a portion ofthe flexible container 505). In some embodiments, one or more stringerscan be connected to the flexible container 505 along an entire length ofthe stringer, along part of the length of the stringer, at selectedpoints along the stringer, or only at endpoints of the stringer.

In some embodiments, a matrix material 620, which can include foam oranother porous material, can be positioned in the enclosed interiorvolume 625 of the flexible container 505. The matrix material 620 canfill part or all of the interior volume 625. The matrix material 620 canprovide internal support for the flexible container 505 while allowingmaterials to pass through its pores. In some embodiments, the matrixmaterial 620 can be deployed from the receptacle 515. In someembodiments, the matrix material 620 can harden or stiffen afterdeployment.

In some embodiments, one or more external stiffening elements 630 candeploy from the receptacle 515 to provide a stiffening area and/orprotective barrier to prevent or resist contact between sides of theflexible container 505 and other elements of the spacecraft (to helpprevent damage to the flexible container 505). For example, thestiffening elements 630 can help resist twisting, shifting, and/orsagging of the flexible container 505 during movements of spacecraftthat carry the flexible container 505. In some embodiments, externalstiffening elements can be formed as doors or flaps that cover theflexible container 505 before deployment, but open to provide structureafter deployment. The stiffening elements 630 can deploy in othersuitable ways from the receptacle 515 or other parts of the spacecraft,and they can fully or partially surround the interface between theflexible container 505 and the receptacle 515. The stiffening elements630 can be positioned on other portions of the flexible container 505,such as portions of the flexible container 505 that are not adjacent tothe receptacle 515.

In some embodiments, an internal baffle 635, which can optionally besupported and/or restrained with a support 640 connected to thereceptacle 515 and/or by one or more stringers 615, can be positioned inthe enclosed interior volume 625 to prevent or reduce sloshing ofmaterials in the interior volume 625.

FIG. 7 illustrates a partially schematic view of a flexible containerassembly 700 in accordance with another embodiment of the presenttechnology. The flexible container assembly 700 can be generally similarto the flexible container assembly 600 illustrated and described abovewith regard to FIG. 6, and it can be implemented in a spacecraft, suchas a satellite. A flexible container 705 includes an outer flexiblebladder 750 with an enclosed interior volume 710 within which an innerflexible bladder 715 can be positioned. The inner flexible bladder 715can be an expulsion device, and it can function as a secondary blow-downbladder that can be expanded (such as by filling with gas and/or fluid)to pressurize the interior volume 710 and expel material from theinterior volume 710. In some embodiments, the inner flexible bladder 715can include insulating materials to facilitate storage of two differentmaterials at two different temperatures within the flexible container705. Accordingly, in some embodiments, flexible containers canaccommodate two or more fluids that can be separated by the innerflexible bladder 715. For example, spacecraft according to embodimentsof the present technology can carry a fuel and an oxidizer within theflexible container 705. In some embodiments, the flexible containerassembly 700 can carry a liquid phase and a vapor phase of the samematerial (for example, liquid water and water vapor), by accommodatingone phase in the inner flexible bladder 715 and one phase outside of theinner flexible bladder 715. In some embodiments, a pressure differentialbetween the interior volume 710 and the interior of the inner flexiblebladder 715 can be created by pressurizing the inner flexible bladder715 (which can be constructed with an elastomer material) against thepressure in the interior volume 710.

In some embodiments, the receptacle 515 can operate as a chassis orinterface to the satellite carrying the flexible container assembly 700,and the receptacle 515 can include one or more fluid access points 711to transfer fluids between the satellite and the assembly 700. In someembodiments, tubes 720 and/or other plumbing for accessing and/ordistributing materials in the flexible container assembly 700 can bepositioned outside of and/or within the flexible container 705, withaccess ports 725 to access the enclosed interior volume 710. In someembodiments, tubes 720 within the interior of the flexible container 705can be porous or otherwise include a plurality of openings forcollecting and/or distributing materials along the length of the tubes720. In some embodiments, an equatorial bulge 730 can encircle all orpart of a midsection (such as an equatorial section if the container 700is generally cylindrical or spherical). The equatorial bulge 730 canpermit dense materials to gather in the bulge for access by one of thetubes 720. For example, a spacecraft can spin to create centripetalforces that bring more dense or heavier materials to collect in theequatorial bulge, which can be accessed by a tube 720. Fluids havingrelatively low density, or other fluids or materials, can be accessedwith a central tube 735 positioned within the interior volume 710. Thecentral tube 735 can be porous in some embodiments, and/or it can havean end point 740 with a diffuser, filter, or other fluid managementdevice. In some embodiments, fluid can be collected at any position onthe central tube 735. One or more valves 745 can be implemented on anyof the tubes 720, fluid access points 711, or other fluid passageways.

In some embodiments, a bladder (750 or 715) or other wall of a flexiblecontainer 705 can include multiple layers. For example, the outerflexible bladder 750 can be formed with two or more separate flexiblebladders, one inside the other. In some embodiments, a space or gapbetween two or more separate flexible bladders forming the outerflexible bladder can be used for blow-down or pressurization of theinterior volume 710, as storage, or for providing self-healingfunctionality, as described above (for example, a gel can be positionedin the gap to fill damage to the outer flexible bladder 750). In someembodiments, there may not be a space or gap between the two or moreseparate flexible bladders that form an outer flexible bladder; instead,the two or more separate flexible bladders can merely be laying adjacentto one another.

FIG. 8 illustrates two spacecraft docked together, in which one of thespacecraft has deployed a flexible container 805, in accordance withanother embodiment of the present technology. For example, a firstspacecraft can be a tanker 100 (described above with regard to FIG. 1),and it can be docked to a satellite 500 (described above with regard toFIG. 5) using a coupling system 810. FIG. 8 illustrates a representativerefueling operation in which the tanker 100 supplies fuel to thesatellite 500 before the tanker 100 and the satellite 500 undock oruncouple from one another. The flexible container 805 expands or extendsaway from the satellite.

FIG. 9 illustrates a schematic view of layers of a wall or membrane 900forming at least a portion of a flexible container in accordance with anembodiment of the present technology. FIG. 9 also illustrates layers ofa bulkhead 905, which can divide enclosed interior volumes in containersaccording to embodiments of the present technology. In some embodiments,the membrane 900 can include one or more abrasion barriers 910positioned as an outermost layer or among outermost layers to protectagainst scuffing or external friction. In some embodiments, abrasionbarriers 910 can be positioned on interior layers or as an innermostlayer to protect against abrasion from materials stored within theflexible container. Interior layers of any suitable type can facilitatedirecting trapped air or fluid to one or more vents when the flexiblecontainer is empty, collapsed, and/or stowed. A micrometeoroid barrier915 can be formed with materials suitable to prevent or reduce puncturesor other damage from space debris or micrometeoroids (e.g., amulti-layer “Whipple shield”), and can be positioned within or adjacentto the abrasion barrier 910. A thermal barrier 920 comprising insulativematerial can be positioned in the membrane 900 to reduce or prevent heattransfer through the membrane 900. A mechanical barrier 925 in themembrane 900 can provide structural support and/or protection fromlarger debris or meteoroids. A fluid barrier 930 can be positioned inthe membrane 900 to limit or prevent fluid transfer out of the membrane900.

The bulkhead 905 can have a similar arrangement of layers forming themembrane 900, or it can have a different arrangement with other types orquantities of layers. In some embodiments, not all layers may be used,and in a particular embodiment, there may only be a fluid barrier in themembrane 900 or the bulkhead 905. In some embodiments, some layersand/or an entirety of a portion of the membrane 900 or the bulkhead 905can have elastic properties, or the layers can be inelastic. Thebulkhead 905 can be joined to the membrane 900 at a joint 950, wheresome or all of the constituent layers of the membrane 900 and bulkhead905 can be joined to each other. In some embodiments, a single layer canincorporate features or functions of multiple layers.

For context, in some embodiments, the vacuum of space 935 can bepositioned outside of the membrane 900, a first fluid or material 940(such as propellant or fuel) can be positioned inside of the membrane900 on a first side of the bulkhead 905, and/or a second fluid ormaterial 945 (such as propellant or fuel) can be positioned inside ofthe membrane 900 on a second side of the bulkhead 905 opposite the firstside.

FIGS. 10A-10E illustrate views of stowed flexible containers 1000 (whichcan include one or more bladders, such as inner and outer bladders)according to several embodiments of the present technology. The flexiblecontainers 1000 can be similar to other flexible containers andmembranes described herein. In some embodiments, flexible containers1000 can be folded, rolled, and/or otherwise stowed during launch of avehicle incorporating the flexible containers. The flexible containerscan be deployed from the stowed configuration, for example, bypressurizing them or filling them with materials. In some embodiments,the receptacle 515 can contain the stowed flexible container 1000 untilthe flexible container 1000 is deployed. Optionally, one or more doorsor cover elements 1010 can cover the container 1000 and/or generallyclose a top portion of the receptacle 515 until the cover elements open1010 to allow the flexible container 1000 to deploy. In someembodiments, instead of or in addition to doors, other cover elements1010 can restrain the container 1000, such as straps, latches, and/orother releasable cover elements. In some embodiments, the receptacle 515can be primarily smooth or lacking in sharp edges to resist or preventdamage to the container 1000 during deployment or use. A diffuser,valve, and/or other plumbing 1005 can connect the rolled or stowedcontainer 1000 to the receptacle 515 and/or other parts of thespacecraft.

In particular, FIG. 10A illustrates a side view of a flexible container1000 rolled in a horizontal roll (relative to the receptacle 515). FIG.10B illustrates a side view of a flexible container 1000 folded uponitself in a single-fold arrangement. FIG. 10C illustrates a side view ofa flexible container 1000 folded upon itself in a double-foldarrangement. FIG. 10D illustrates a side view of a flexible container1000 rolled in a vertical roll (perpendicular to the horizontal rollillustrated in FIG. 10A). FIG. 10E illustrates a side view of a flexiblecontainer 1000 folded in a horizontal concertina (like an accordion orbellows) configuration. In some embodiments, the flexible container canbe folded in a vertical concertina configuration (for example,perpendicular to the horizontal configuration shown in FIG. 10E). Insome embodiments, containers 1000 with outer flexible bladders and innerflexible bladders can be folded or rolled in any of the foregoingmanners. Additional internal and/or external membranes can be includedto resist friction and/or sticking of the various folds or rolls in thedeployment process, and/or to facilitate egress of trapped matter (e.g.,air or fluid) from the containers 1000 when the flexible containers 1000are being stowed, packed, and/or emptied. For example, as illustrated inFIGS. 10C and 10E, a porous membrane 1015 (e.g., felt, cloth, or anothersuitable porous material) can be positioned inside the flexiblecontainer 1000.

FIG. 11 illustrates a fluid management system 1100 for managing fluidsin flexible containers 1105 in accordance with embodiments of thepresent technology. A diffuser 1110 or other vent, valve, or flowdistribution structure can be positioned in the enclosed interior volume1115 of the flexible container 1105. The diffuser 1110 can distributefluid or other material flow into the flexible container 1105 to reducelocalized stress on the container. For example, a piccolo tube can beused as the diffuser. A piccolo tube can include a tube with a pluralityof flow distribution holes distributed along its length and/or diameter,and can be positioned on an end of the fluid management piping 1120within the interior volume 1115.

In some embodiments, a gas generator and/or reformer 1125 (which can besimilar to the gas generator and/or reformer 430 illustrated anddescribed above with regard to FIG. 4) can be operatively connected to apressurant tank 1130 (such as by piping 1120, or by a direct connectionwith the volume within the inner flexible membrane 1135). The gasgenerator and/or reformer 1125 can provide gas to pressurize thepressurant tank 1130, which can in turn provide pressure for an innerflexible membrane 1135. The inner flexible membrane 1135 can bepressurized and/or expanded to provide a blow-down function for theflexible container 1105 (the inner flexible membrane 1135 can form partof an expulsion device to expel material from the flexible container1105) and/or it can be used to store a material of a differentcomposition, temperature, and/or other properties inside the container1105 but separate from the remainder of the enclosed interior volume1115. In some embodiments, the interior volume 1115 of the flexiblecontainer 1105 may be pressurized to expel material from the innerflexible membrane 1135. In some embodiments, the flexible container 1105can be filled or pressurized with the gas generator and/or reformer1125, for example, via piping 1120 or a direct connection with theinterior volume 1115.

In some embodiments, a heater and/or chiller system 1140 can beincorporated into the fluid management system to heat or cool materialsin the system. For example, the heater and/or chiller system 1140 can bethermally coupled to piping 1120 to maintain desired operatingtemperatures in the piping 1120. One or more valves 1145 can bedistributed throughout the piping 1120 to enable or disable flow ofmaterials in the piping 1120 to facilitate control of pressurization,storage, and/or distribution. One or more coupling systems 1150 withcoupling structures according to embodiments of the present technologycan be operatively connected to the piping 1120. In some embodiments,sensors distributed along the piping 1120, within the container 1105,and/or elsewhere in the fluid management system can include temperaturesensors, pressure sensors, flow rate sensors, and/or fluid compositionsensors. Other sensors can include stress sensors, radiation sensors, orother sensors suitable for monitoring the performance and status of thefluid management system 1100.

FIGS. 12A-12D illustrate partially schematic views of arrangements forconnecting flexible containers 1200 to a spacecraft or to the receptacle515 in accordance with embodiments of the present technology. Becausethe membranes of the flexible containers are flexible, a correspondingseal can be configured to account for the flexibility. Suitable sealscan be formed in several ways. In some embodiments, an entirety of theflexible container wall can be sealed against the spacecraft and/or thereceptacle 515, or in other embodiments, only the fluid barrier may besealed against the spacecraft and/or the receptacle. For example, FIG.12A illustrates a flange seal 1205 between the container 1200 and aportion of the spacecraft or receptacle, such as a plumbing or fluidtransfer pipe 1210. The flange seal 1205 can include a flange element1215 that is pressed against a pass-through opening of the container1200 and sealed with the force of a bolt, screw, rivet, tie, clip,and/or other fastener 1220. The container 1200 or the fluid barrier issealed between the flange seal 1205 and the pipe 1210 or other portionof the spacecraft or receptacle. FIG. 12B illustrates a hose clamp 1225for sealing the container 1200 against the spacecraft.

In other embodiments, flexible containers 1200 can be connected tospacecraft by adhesive, gaskets, and/or other attachments suitable forproviding a sealed interface to transfer material from the container toother parts of the spacecraft. For example, FIG. 12C illustrates a topview of an arrangement for connecting a flexible container to thespacecraft. A gasket 1230 positioned between the container 1200 and thepipe 1210 or another part of the spacecraft can have bolt holes 1235,whereby bolts are positioned inside the container 1200, pass through thecontainer 1200, through the gasket 1230, and fasten to the spacecraft.An orifice 1240 facilitates fluid transfer. FIG. 12D illustrates a sidecross-sectional view of a seal created with an o-ring 1245 attached toor integral with the membrane of the container 1200 and positioned in agroove 1250 carried by the pipe 1210 or other portion of a spacecraft.An inner body member 1255 (which can be a ring or a collar) of the pipe1210 can be positioned to press the O-ring 1245 into the groove 1250 toseal the connection.

C. Coupling Mechanisms and Interfaces

Spacecraft according to embodiments of the present technology can dockand/or couple with each other to facilitate transfer of materialsbetween them. In one aspect of the technology, a first couplingstructure of a first spacecraft can couple with a second couplingstructure of a second spacecraft. The coupling structures can beandrogynous, meaning each coupling structure can couple with any othersimilarly-configured coupling structure without regard to orientation asa male or female connector. The coupling structures can bemulti-functional, such that multiple connections can be made when thecoupling structures are brought together. For example, couplingstructures can provide mechanical docking features, alignment features,fluid connecting features, electrical connecting features, dataconnecting features, and/or any other connecting feature suitable fortransferring materials in space.

FIG. 13 illustrates a schematic view of a coupling structure 1300configured in accordance with an embodiment of the present technology.The coupling structure 1300 is able to mate with another couplingstructure (for example, on another spacecraft) having the samearrangement of connectors. In some embodiments, all that may be neededto connect two coupling structures together is a clocking or rotationmaneuver to align the couplings. In some embodiments, the couplingstructure 1300 includes a mounting element 1310, which can be a mountingplate. In some embodiments, the mounting element 1310 can include aportion of a spacecraft, such that a mounting plate can be omitted andthe features and/or connectors of the coupling structure can be mountedon the portion of the spacecraft, such as an outer wall or othersurface. The mounting element 1310 carries the various connectors. Insome embodiments, the connectors on the coupling structure 1300 canconnect with other connectors on another coupling structuresimultaneously or nearly simultaneously during a docking process.

In some embodiments, the coupling structure 1300 includes one or morefluid connectors for transferring fluid to or from another spacecraftvia another coupling structure. For example, a plurality of fluidconnectors can be arranged in a circular pattern 1312 to match acorresponding pattern on another coupling structure. In a particularexample, as illustrated in FIG. 13, two female fluid connectors 1315 andtwo male fluid connectors 1320 can be positioned in a symmetricorientation capable of mating with the same arrangement on anothercoupling structure. There can be more or fewer fluid connectors 1315,1320 and they can be arranged in one or more circular patterns, whichmay or may not be concentric with each other.

In some embodiments, the coupling structure 1300 includes one or moreelectrical connectors 1325, which can optionally be arranged in acircular pattern as shown in FIG. 13. The electrical connectors 1325 maythemselves be androgynous, such that they can be generally similar to,or identical to, other electrical connectors on another couplingstructure 1300 to facilitate androgynous coupling between the couplingstructures 1300.

In some embodiments, the coupling structure 1300 includes one or moremale mechanical docking connectors 1330 and female mechanical dockingconnectors 1335, which can be arranged in a circular pattern 1340similar to the pattern 1312 of fluid connectors. The arrangementillustrated in FIG. 13 facilitates androgynous connection with anothercoupling structure 1300 having the same circular pattern 1340. Themechanical docking connectors 1330, 1335 mate with correspondingconnectors 1330, 1335 to form a structural connection to couple twospacecraft together (via the coupling structures 1300), for example,during a fluid transfer process using the fluid connectors 1315, 1320.In some embodiments, mechanical docking connectors can include hooks,latches, pins, magnets (the “P” in FIG. 13 illustrates that the femaleconnector 1335 can be a magnetically susceptible pad, while the “M” inFIG. 13 illustrates that the male connector 1330 can be a magnet thatcan be permanent or switchable), and/or other suitable male and femaleor androgynous mechanical connections. In some embodiments, matingmechanical docking connectors can include a projection and a recess toreceive the projection, and/or a guiderail and a slot for receiving theguiderail.

In some embodiments, the coupling structure 1300 includes one or morealignment features to assist alignment of the coupling structures ifthey are slightly offset during a coupling sequence. For example, one ormore male alignment features 1345 and female alignment features 1350 canbe arranged in a circular pattern 1355 similar to the pattern 1312 offluid connectors. The arrangement of alignment features facilitatesandrogynous connection with alignment features on another couplingstructure having the same circular pattern 1355. In some embodiments,male alignment features 1345 can include a cone that can be shaped,sized, and positioned to engage a female alignment feature 1350, whichcan be a cup. In some embodiments, alignment features 1345, 1350 caninclude guiderails and pins, and/or a combination of features ofdifferent types suitable for facilitating mechanical alignment ofcoupling structures 1300 with each other.

Coupling structures 1300 can include additional features to facilitateandrogynous docking. For example, indicators, such as lights 1360,reflectors 1365, and/or alignment indicators 1370, can be viewed,observed, and/or analyzed by operators, sensors, and/or cameras 1375positioned on or adjacent to the coupling structure 1300. In someembodiments, barcodes (such as QR codes) 1380 can provide identifyinginformation for the cameras 1375 or other sensors to read foridentifying vehicles or other information, such as location information.In some embodiments, a camera can be positioned at a center axis orcenter point 1385 of the coupling structure 1300. In some embodiments,ranging system 1390, such as a laser rangefinder, lidar system, and/orradar system, can be included on the coupling structure 1300 to provideposition information for docking maneuvers. The mounting element 1310can include one or more bolt holes or other fastening features 1395 tomount the coupling structure 1300 to a spacecraft. In some embodiments,alignment and/or docking features can be incorporate into the fasteningfeatures 1395. The fastening features 1395 can include alignmentfeatures to assist a builder with aligning the coupling structure 1300on a spacecraft.

An advantage of the coupling structure 1300 is that it can mate withidentical or otherwise structurally similar (for example, having amatching arrangement of male and female connectors) coupling structuresfor an androgynous connection with another spacecraft. Such androgynousconnections can enable several different vehicles to connect to eachother for fluid transfer processes or other processes. According tovarious embodiments, any suitable number and type of connector can bepositioned in circles or other patterns to provide an androgynouscoupling structure 1300. In some embodiments, a male connector and afemale connector can be adjacent to each other in a pair and other pairsof male and female connectors can be distributed about a circular orother symmetric pattern on the coupling structure 1300. Circular orother symmetric patterns can be concentric. In general, to facilitateandrogynous coupling, matching couplings can have the same effectiveradius or distance from a center point 1385 of the coupling structure1300.

In some embodiments, for every type of connector (e.g., fluid, latching,alignment, electrical) there may be male and female and/or active andpassive variants. In some embodiments, a first coupling structure 1300can include a first set of connections, including active, passive, male,and/or female connections, while another coupling structure 1300 caninclude a subset of those connectors. In such embodiments, the couplingstructures 1300 can be compatible and fully coupled, but with only asubset of connections enabled (for example, the connections can belimited to the connectors in the second coupling structure 1300). Insome embodiments, a circular pattern of connectors can include more thanone type of connector. For example, a single circular pattern ofconnectors can include one or more fluid connectors and one or moreelectrical connectors, or any suitable combination of connectors in oneof the circular patterns.

FIGS. 14A and 14B illustrate other representative arrangements ofconnectors that can facilitate androgynous connections between couplingstructures 1300, in accordance with embodiments of the presenttechnology. FIG. 14A illustrates, schematically, a male and female pair1400, which can be on a first coupling structure 1300, arranged to matewith another male and female pair 1405, which can be on a secondcoupling structure 1300 and can be substantially identical to the pair1405. The pairs can be rotated 180 degrees relative to each other tofacilitate the mating connection. FIG. 14B illustrates, schematically,an arrangement 1410 that can be implemented on a face of a couplingstructure 1300. For example, male and female connectors 1415 can bearranged in a rectangular or otherwise parallel configuration around acenter point 1420, while other male and female connectors 1425 (marked Mor F) can be positioned in opposing locations relative to the centerpoint 1420. Accordingly, FIG. 14B illustrates another representativeandrogynous arrangement of connectors for a coupling structure.Embodiments of the present technology contemplate other arrangements ofconnectors suitable for forming a matching androgynous connectionbetween coupling structures. In some embodiments, coupling structures1300 may only need to be clocked (rotated) to align their androgynousfeatures.

FIGS. 15A-15F illustrate partially schematic views of connectors andportions of connectors that facilitate androgynous connections betweencoupling structures, in accordance with embodiments of the presenttechnology. The connectors can include mechanical, fluid, electrical,and other connectors that can be carried by the mounting element 1310 toform a coupling structure such as the coupling structure 1300 shown inFIG. 13. In some embodiments, a connector on a mounting element mayinclude a male and female element positioned adjacent to each other(such as is illustrated in FIGS. 15A, 15D, and 15E), so that eachmounting element 1310 includes a male element and a female element thatmate with corresponding male and female elements on another mountingelement 1310.

FIG. 15A illustrates a pin attachment system 1500, which can include abarbed pin 1505 positioned to mate with a corresponding barbed recess1510. Barbs of the pin 1505 or the recess 1510 can be retractable tofacilitate release of the connection. FIGS. 15B and 15C illustrate afemale fluid connector 1515 and a male fluid connector 1520,respectively. The male and female fluid connectors facilitate connectionand fluid transfer between coupling structures. In some embodiments, thefemale fluid connector 1515 includes a receiving aperture 1525 sized andshaped to receive a tube 1530 of the male fluid connector 1520. Theconnection can include releasable locking features 1535 (which can beactuated by one or more solenoids 1527) positioned to selectively holdand release the male connector 1520 in the aperture 1525 of the femaleconnector 1515. When connected, fluid can flow through the tube 1530 andan inlet and/or outlet 1540 of the female connector 1515.

FIG. 15D illustrates a magnetic coupling 1545, which can include a maleconnector 1550 (which can be an actuated magnet that can be turned on oroff) and a female connector 1555, which can be a metallic padsusceptible to magnetic forces. FIG. 15E illustrates mechanicalalignment features (see elements 1345 and 1350 in FIG. 13 above), whichcan include a female mechanical alignment feature in the form of a cup1560 to receive a male alignment feature in the form of a projection orcone 1565, for example. FIG. 15F illustrates electrical connectors 1570,each of which can include a spring 1575 positioned in a recess 1580 andbiasing a contact 1585 outwardly from the mounting element 1310. In someembodiments, a contact 1585 can be a flat pad positioned to contactanother contact 1585 of another connector 1570 on another couplingstructure. In some embodiments, the contact 1585 can include a point ora cone or another protrusion. In some embodiments, contacts 1585 canmake contact with a non-spring loaded female contact pad 1590 on theopposing coupling structure.

Connectors and coupling structures according to the present technologycan be arranged in any suitable manner to provide androgynous couplingbetween spacecraft to transfer fluids, electrical signals, mechanicalforces, data, heat, and/or any other suitable transferable material.

D. Material Transportation, Distribution, and/or Sale

In some embodiments, spacecraft according to embodiments of the presenttechnology can operate in one or more orbits around the Earth or theMoon, or around other celestial locations, or they may operate onsurfaces of extraterrestrial bodies (e.g., the Moon, Mars, asteroids).For example, spacecraft can operate in a low inclination orbit (forexample, between 3 and 13 degrees, such as 8 degrees) around Earth torendezvous with spacecraft launched from near the equator, such as fromFrench Guiana, India, or Brazil. In some embodiments, spacecraft canoperate in a medium inclination orbit (for example, between 25 to 35degrees, such as 30 degrees) to rendezvous with spacecraft launched fromFlorida, California, Japan, or China. In yet further embodiments,spacecraft can operate in high inclination orbit, (for example, between41 and 51 degrees, such as 46 degrees) to rendezvous with spacecraftlaunched from Russia or Alaska. In another embodiment, spacecraft canoperate in sun synchronous orbit (SSO), for example, inclined at 98degrees for proximity to common Earth observation orbits. In someembodiments, orbits can be Low Earth Orbit (LEO), Medium Earth Orbit(MEG), Geostationary Earth Orbit (GEO), or a Super-Synchronous EarthOrbit (SSEO) with a period greater than 24 hours. Orbits can beeccentric (such as a transfer orbit). Spacecraft can be positioned at ornear one or more of the Lagrangian points in a two-body system, such asthe Lagrangian points associated with the Earth and the Moon. In someembodiments, spacecraft can be positioned in a lunar orbit.

In some embodiments, a spacecraft (for example, a tanker) with acontainer can dock with another spacecraft (such as a satellite) usingcoupling structures (which can be androgynous as disclosed herein). Acontroller or other operator can cause material to be transferredbetween the two spacecraft. For example, the satellite can deploy aflexible container and the tanker can fill the flexible container withfuel or other material. Then, the tanker can undock and move to anotherorbit. Accordingly, the present technology facilitates distribution ofmaterials such as fuel, which can be implemented in a commercial fuel ormaterial selling process. In some embodiments, a spacecraft (such as atanker) including a storage container having fuel or other material canbe launched to a first orbit, where it can be stored or parked. Thatfirst orbit can be a high parking orbit. The tanker can be transferredto a second orbit, which can be an operational orbit for a satellite.The tanker can dock with the satellite and provide fuel to thesatellite. The tanker can then undock from the satellite and return tothe parking orbit. Accordingly, the tanker can be stored in a low dragenvironment, and/or in an orbit that poses low impact risk to otheroperational spacecraft until it is needed, and the satellite can berefueled when needed. In some embodiments, a tanker can function as aspace tug to dock with client satellites and move them to various orbitswhile using fuel in the tanker or while providing fuel to the clientsatellite.

FIG. 16 illustrates a flow diagram of a method 1600 of transferring,delivering, and/or storing materials in space, or otherwise conducting aspace mission. In block 1610, a spacecraft such as a satellite can belaunched unfueled or without sufficient fuel to carry out its mission.In block 1620, a spacecraft such as a tanker carrying fuel can belaunched, and in block 1630 it can be stored in an orbit, until it ismoved to or otherwise meets the satellite to fuel the satellite, asshown in block 1640. In block 1650, the satellite can establish itsorbit (or re-establish orbit after receiving fuel). In block 1660, thesatellite can carry out its mission or other operations. In block 1670,the fuel in the satellite can be depleted. In block 1680, the satellitecan be refueled by the tanker (for example, by the tanker changingorbits to rendezvous with the satellite, or by the satellite changingorbits to rendezvous with the tanker). In block 1690, the satelliteand/or tanker mission can be complete after one or more fueling orrefueling operations, and the satellite and/or tanker can be deorbited(e.g., entered into Earth's atmosphere or placed in a “graveyard” orbitor other suitable orbit). In some embodiments, the satellite can deploya flexible container upon arriving at its operational orbit, or upondocking with the tanker (for example, to prepare to receive materialfrom the tanker). By this process, for example, a single tanker canprovide fuel to multiple satellites, and/or a single satellite canreceive fuel from multiple tankers.

FIG. 17 illustrates a flow diagram of a method 1700 of carrying out aspace mission in accordance with another embodiment of the presenttechnology. In block 1710, a satellite can be launched fully fueled, andin block 1720, it can establish its orbit. In block 1730, the satellitecan carry out its mission or other operations, during or after which itcan require refueling or orbit change, in block 1740. Simultaneously orat another time a tug (which can be a tanker according to the technologyherein), can be launched (block 1750) and stored in an orbit (block1760). In block 1770, the tug or tanker can carry out an assisted orbitchange of the satellite and/or a refueling operation. The tug or tankercan use its own propulsion systems or the propulsion systems of thesatellite. In blocks 1780 and 1790, missions can be complete and the tugor tanker and the satellite can deorbit. In some embodiments, the tugcan carry out multiple tug or refuel operations before being deorbited.

The present technology contemplates other processes and methods. Forexample, in some embodiments, after an assisted orbit change (block1770), the satellite can carry out its operations (block 1730), thesatellite can deorbit (block 1790), the tug can deorbit (block 1780),and/or the tug can return to a storage orbit (block 1760). Any suitablerefueling and/or tugging process may be accomplished with embodiments ofthe present technology.

A storage or parking orbit for a tanker can be the same as or differentthan (e.g., smaller than or larger than) an operational orbit for asatellite. For example, the parking orbit can have a larger semi-majorand/or semi-minor axis than the satellite operational orbit. Orbits canbe elliptical, circular, and/or transfer orbits between bodies.

Embodiments of the present technology provide facilities and equipmentthat enable fluid and material transfer and/or processing operations inextraterrestrial environments, such as in orbit or on a planetary orlunar surface. In some embodiments, activities of spacecraft and relatedequipment described herein can be controlled by an on-board human,remotely, or autonomously. In some embodiments, artificial intelligence(AI) can be implemented to automatically communicate between spacecraftto determine fueling needs and to control refueling operations disclosedherein. AI can be implemented to control formation flying of spacecraftor docking and undocking of spacecraft to form large or small aggregatespacecraft.

Embodiments of the present technology can be commercialized to provide arefueling and/or tug service to improve satellite or other space missioncapabilities and/or to improve the usable lifetime of spacecraft. Insome embodiments, the tankers can retrieve and process materials fromsatellites (which can include fuel tanks or other tanks in upper stagesof launch vehicles), or from other sources, for later delivery to otherspacecraft. For example, tankers and spacecraft according to the presenttechnology can retrieve unused liquid hydrogen and liquid oxygen from arocket upper stage, convert it to water, store it as propellant, orotherwise store and distribute it.

From the foregoing, it will be appreciated that some embodiments of thepresent technology have been described herein for purposes ofillustration, but various modifications may be made without deviatingfrom the disclosed technology. For example, any suitable material can betransferred with the present technology, and activities can be performedin any suitable orbit. Spacecraft can be sized and configured to haveany features suitable for space missions. In addition, certain aspectsof the technology described in the context of some embodiments may becombined or eliminated in some embodiments. For example, embodimentsneed not include every system or subsystem disclosed herein. Variousembodiments can be assembled on orbit or on Earth. Structures can be3D-printed, welded, or assembled in other suitable ways. In someembodiments, otherwise unused space on a launch vehicle can be filledwith fuel or carry a container according to an embodiment of the presenttechnology. In some embodiments, stores or banks of material in spacemay be created or increased by bringing fuel or other material in theunused space of a launch vehicle, and/or by bringing one or morecontainers of fuel into orbit. In some embodiments, a structure aroundor in flexible containers can include a shape memory alloy that appliespressure to the flexible containers to function as an expulsion deviceto push material out of the flexible containers. Although containers(including flexible containers) have been illustrated as round, they canhave any suitable shape.

Further, while advantages associated with some embodiments of thetechnology have been described in the context of those embodiments, someembodiments may also exhibit said advantages, and not all embodimentsneed necessarily exhibit such advantages to fall within the scope of thepresent technology. Accordingly, the present disclosure and associatedtechnology can encompass other embodiments not expressly described orshown herein.

As used herein, the term “and/or” when used in the phrase “A and/or B”means “A, or B, or both A and B.” A similar manner of interpretationapplies to the term “and/or” when used in a list of more than two terms.

To the extent any of the materials incorporated herein by referenceconflict with the present disclosure, the present disclosure controls.

I/We claim:
 1. A method of transferring materials in space, the methodcomprising: launching a spacecraft comprising a storage container;positioning the spacecraft in a first orbit, transferring the spacecraftto a second orbit; docking the spacecraft with a satellite in the secondorbit; transferring material between the storage container and thesatellite; and undocking the spacecraft from the satellite.
 2. Themethod of claim 1 wherein a first semi-major axis of the first orbit isgreater than a second semi-major axis of the second orbit.
 3. The methodof claim 1 wherein a first semi-minor axis of the first orbit is greaterthan a second semi-minor axis of the second orbit.
 4. The method ofclaim 1, further comprising returning the spacecraft to the first orbit.5. The method of claim 1 wherein transferring material between thestorage container and the satellite comprises receiving, in the storagecontainer, material from the satellite.
 6. The method of claim 5 whereinreceiving material from the satellite comprises receiving propellantfrom the satellite.
 7. The method of claim 1 wherein launching thespacecraft comprises launching the spacecraft with material in thestorage container to be provided to the satellite.
 8. The method ofclaim 1 wherein transferring material to the satellite comprisesdeploying a flexible container on the satellite to receive the material.9. The method of claim 1 wherein transferring material between thestorage container and the satellite comprises transferring propellant tothe satellite.
 10. The method of claim 1, further comprising launchingthe satellite to the second orbit, wherein launching the satellitecomprises launching the satellite without sufficient fuel for a spacemission planned for the satellite.
 11. The method of claim 1 whereinpositioning the spacecraft in the first orbit comprises orienting thespacecraft such that its longest axis is oriented tangential to thefirst orbit or its smallest cross-sectional area is facing an orbitalvelocity vector.
 12. The method of claim 1 wherein docking thespacecraft with the satellite comprises orienting a first couplingstructure carried by the spacecraft to align with a second couplingstructure carried by the satellite, and connecting a plurality ofconnectors carried by the first coupling structure to a correspondingplurality of connectors carried by the second coupling structure.
 13. Acontrol system for facilitating transfer of materials in space, thecontrol system comprising a controller having instructions which, whenexecuted: position a spacecraft in a first orbit, the spacecraftcomprising a storage container; transfer the spacecraft to a secondorbit; dock the spacecraft with a satellite in the second orbit;transfer material between the storage container and the satellite; andundock the spacecraft from the satellite.
 14. The control system ofclaim 13, wherein the controller is a first controller, the controlsystem further comprising a second controller having instructions which,when executed: deploy a flexible container from the satellite; and causematerial from the spacecraft to be received in the flexible container.15. The control system of claim 13 wherein the controller furthercomprises instructions which, when executed, transfer fuel or propellantfrom the storage container to the satellite.
 16. The control system ofclaim 13 wherein the controller comprises instructions that, whenexecuted, transfer material from the satellite to the storage container.17. The control system of claim 13 wherein the satellite is a portion ofa launch vehicle, the material comprises fuel or oxidizer, and whereinthe controller comprises instructions that, when executed, process thefuel or oxidizer and/or store it in the storage container.
 18. A systemfor carrying out a space mission, the system comprising an unmannedspacecraft configured to operate in an extraterrestrial environment, thespacecraft comprising: a storage container configured to containmaterial; a first coupling structure carried on an exterior surface ofthe spacecraft, the first coupling structure comprising a plurality ofconnectors including a fluid connector and one or more of an electricalconnector, a signal connector, or a mechanical connector positioned tocouple the first coupling structure with a second coupling structure ofa satellite; and a controller programmed with instructions that, whenexecuted: dock the spacecraft with a satellite in an orbit using thefirst coupling structure; transfer material between the storagecontainer and the satellite via the first coupling structure; and undockthe spacecraft from the satellite.
 19. The system of claim 18, whereinthe orbit is a first orbit and the instructions, when executed: positionthe spacecraft n a second orbit, transfer the spacecraft to the firstorbit; and after undocking the spacecraft from the satellite, cause thespacecraft o leave the first orbit.
 20. The system of claim 18 whereinthe storage container is configured to contain propellant, and whereintransferring material comprises transferring propellant to thesatellite.
 21. The system of claim 18, further comprising the satelliteand a flexible container carried by the satellite, the flexiblecontainer being configured to deploy from a stowed configuration. 22.The system of claim 21, wherein the flexible container deploys after thesatellite is positioned in the second orbit.
 23. The system of claim 21wherein the flexible container comprises an inner flexible bladderpositioned within an outer flexible bladder.
 24. The system of claim 23wherein the inner flexible bladder is positioned to expand within theouter flexible bladder to expel materials from the outer flexiblebladder.
 25. The system of claim 23, further comprising an insulatinglayer between the inner flexible bladder and the outer flexible bladder,wherein the inner flexible bladder is configured to contain a firstmaterial and the second flexible bladder is configured to contain asecond material different from the first material.
 26. A materialstorage and distribution system for a satellite, the system comprising:a flexible container configured to contain a material and to be carriedby a satellite, the flexible container being changeable between a stowedconfiguration and a deployed configuration, wherein in the stowedconfiguration, the flexible container is contained within the satellite,and in the deployed configuration, the flexible container extends awayfrom the satellite; wherein the flexible container is configured tochange to the deployed configuration when the flexible container is inan extraterrestrial environment.
 27. The system of claim 26, furthercomprising a receptacle carried by the satellite, wherein in the stowedconfiguration, the flexible container is contained within thereceptacle, and in the deployed configuration, the flexible containerextends away from the receptacle.
 28. The system of claim 27, furthercomprising a controller programmed with instructions that, whenexecuted: open the receptacle; and deploy the flexible container byproviding material to the flexible container.
 29. The system of claim 27wherein the stowed configuration comprises the flexible container beingfolded within the receptacle.
 30. The system of claim 26 wherein theflexible container is not enclosed in a rigid structure when theflexible container is in the deployed configuration.
 31. The system ofclaim 26, further comprising an expulsion device configured to expelmaterial from the flexible container.
 32. The system of claim 31 whereinthe expulsion device comprises a pump.
 33. The system of claim 31wherein the flexible container comprises an outer flexible bladder, andwherein the expulsion device comprises an inner flexible bladderpositioned within the outer flexible bladder, the inner flexible bladderbeing configured to expand within the outer flexible bladder to expelmaterial from the flexible container.
 34. The system of claim 33,further comprising a gas source carried by the satellite and positionedto provide gas to the inner flexible bladder to cause it to expand. 35.The system of claim 31 wherein the expulsion device comprises anexternal structure formed with a shape memory alloy configured tocompress the flexible container.
 36. The system of claim 26, wherein theflexible container comprises an outer flexible bladder, an innerflexible bladder positioned within the outer flexible bladder, and aninsulating layer between the inner flexible bladder and the outerflexible bladder.
 37. The system of claim 36 wherein the inner flexiblebladder is configured to contain a first material and the outer flexiblebladder is configured to contain a second material different from thefirst material.
 38. The system of claim 26 wherein the flexiblecontainer comprises a membrane having a fluid barrier layer.
 39. Thesystem of claim 38 wherein the flexible container further comprises oneor more of: an abrasion barrier, a micrometeoroid barrier, a thermalbarrier, or a mechanical barrier, the mechanical barrier beingpositioned to constrain pressure within the flexible container.
 40. Thesystem of claim 26 wherein the flexible container comprises at least onebulkhead configured to provide a plurality of interior volumes withinthe flexible container.
 41. The system of claim 26 wherein the flexiblecontainer further comprises an external stringer configured to resistinterior pressure of the flexible container, the external stringercomprising rope, wire, tape, or an elastic or inelastic material. 42.The system of claim 26, further comprising the satellite.
 43. The systemof claim 42 wherein the flexible container is connected to the satellitevia a fastener passing through the flexible container and a flangepositioned within the flexible container, via a clamp encircling aportion of the flexible container, via an adhesive, or via an O-ringcarried by the flexible container and positioned in a groove carried bythe satellite.
 44. The system of claim 42 wherein the satellitecomprises a first coupling structure having a plurality of connectorsincluding a fluid connector and one or more of an electrical connector,a signal connector, or a mechanical connector configured to align thefirst coupling structure with a second coupling structure of aspacecraft.
 45. The system of claim 44, further comprising a controllerprogrammed with instructions that, when executed: dock the spacecraftwith a satellite in an orbit using the first coupling structure;transfer material between the flexible container and the spacecraft viathe first coupling structure; and undock the spacecraft from thesatellite.
 46. The system of claim 26 wherein the material is a liquid.47. The system of claim 26, further comprising a porous membranepositioned inside the flexible container.
 48. A coupling system fortransferring material between objects on orbit in space, the couplingsystem comprising: a first coupling structure configured to couple witha second coupling structure in space; one or more mechanical dockingconnectors carried by the first coupling structure; and one or morefluid transfer connectors carried by the first coupling structure. 49.The coupling system of claim 48 wherein first coupling structurecomprises a mounting plate, the mounting plate carrying each mechanicaldocking connector and each fluid transfer connector.
 50. The couplingsystem of claim 48 wherein the one or more fluid connectors arepositioned in a circular arrangement distributed around a center of thefirst coupling structure.
 51. The coupling system of claim 50 whereinthe circular arrangement is a first circular arrangement, the systemfurther comprising one or more second fluid connectors positioned in asecond circular arrangement, the second circular arrangement beingconcentric with the first circular arrangement.
 52. The coupling systemof claim 48 wherein the one or more mechanical docking connectors arepositioned in a circular arrangement distributed around a center of thefirst coupling structure.
 53. The coupling system of claim 48, furthercomprising a plurality of electrical connectors positioned in a circulararrangement distributed around a center of the first coupling structure.54. The coupling system of claim 48, further comprising one or morelights and/or one or more reflectors carried by the first couplingstructure.
 55. The coupling system of claim 48, further comprising acamera.
 56. The coupling system of claim 55, wherein the camera ispositioned at a center of the first coupling structure.
 57. The couplingsystem of claim 48, further comprising a laser range finder and/or aradar sensor carried by the first coupling structure.
 58. The couplingsystem of claim 48 wherein the one or more fluid transfer connectorscomprises a male fluid transfer connector and a female fluid transferconnector capable of connecting with the male fluid transfer connector.59. The coupling system of claim 48 wherein the one or more mechanicaldocking connectors comprises a male mechanical docking connector and afemale mechanical docking connector capable of connecting with the malemechanical docking connector.
 60. The coupling system of claim 48wherein the one or more mechanical docking connectors comprises a latchor a magnetic surface.
 61. The coupling system of claim 48 wherein theone or more mechanical docking connectors comprise a first plurality ofmechanical docking connectors positioned in a first arrangement and theone or more fluid transfer connectors comprise a first plurality offluid transfer connectors positioned in a second arrangement, the systemfurther comprising the second coupling structure, wherein the secondcoupling structure comprises a second plurality of mechanical dockingconnectors positioned in the first arrangement and a second plurality offluid transfer connectors positioned in the second arrangement.
 62. Thecoupling system of claim 61 wherein the first coupling structure isidentical to the second coupling structure.
 63. The coupling system ofclaim 61, further comprising a controller programmed with instructionsthat, when executed, orient the first coupling structure to align withthe second coupling structure and cause the first coupling structure tocouple with the second coupling structure.
 64. The coupling system ofclaim 48, further comprising a boom carrying the first couplingstructure.